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系統識別號 U0002-1512201012130700
中文論文名稱 機械手臂抓取接觸力分析
英文論文名稱 Contact Force Analysis in Robot Grasping
校院名稱 淡江大學
系所名稱(中) 機械與機電工程學系博士班
系所名稱(英) Department of Mechanical and Electro-Mechanical Engineering
學年度 99
學期 1
出版年 100
研究生中文姓名 成怡
研究生英文姓名 I Cheng
電子信箱 095130@mail.tku.edu.tw
學號 891340027
學位類別 博士
語文別 中文
口試日期 2011-01-17
論文頁數 72頁
口試委員 指導教授-劉昭華
委員-陳正光
委員-王銀添
委員-林鎮洲
委員-楊智旭
委員-劉昭華
中文關鍵字 機械手臂抓取  機械手臂挾持  接觸力學 
英文關鍵字 Robot grasping  Robot gripping  Contact mechanics 
學科別分類
中文摘要 本研究利用赫氏接觸原理以及力平衡方程式,推導出機械手臂抓取球形物件時的接觸力與夾緊位移關係式。只要給定手指的夾緊位移,即可代入關係式求出手指與物件間的正向及側向(摩擦)接觸力。此研究是針對二至四指抓取,在二指抓取方面,手指可以模擬成剛體或是可變形體,夾緊方式也可以是平移夾緊或是旋轉夾緊,另針對三指與四指抓取,手指模擬成剛體,夾緊系統為左右對稱,此研究皆以解析方式求出以上各情況的閉合形式解。
英文摘要 In this research Hertz contact theory and equilibrium equations are used to derive relations between contact forces and tightening displacements for a robot grasping a spherical object. By substituting a tightening displacement of robot fingers into these relations, the corresponding normal and tangential (frictional) components of fingers-to-object contact forces may be determined. For cases of two-fingered grasping, the fingers may be elastic or rigid, and tightening displacements may be linear or angular. As for three and four fingered grasping, the cases with rigid fingers are treated. Closed form solutions are obtained in all these cases.
論文目次 中文摘要 I
英文摘要 II
目錄 III
圖目錄 V
符號說明 VII
第一章 緒論 1
1-1 研究動機與文獻回顧 1
1-2 Sinha and Abel所提出靜態模式之探討 3
1-3 赫氏接觸理論 8
1-4 研究架構 10
第二章 兩指平移挾持之探討 12
2-1 兩彈性指之平移挾持 12
2-2 兩指平移挾持之特例探討 19
2-3 兩指平移挾持之結果探討 21
第三章 兩指旋轉挾持之探討 23
3-1 兩彈性指之旋轉挾持 23
3-2 兩指旋轉挾持之特例探討 28
3-3 兩指旋轉挾持之結果探討 30
第四章 多剛性指圍繞抓取之探討 32
4-1 三剛性指之圍繞抓取 32
4-2 四剛性指之圍繞抓取 37
4-3 多剛性指圍繞抓取之結果探討 42
第五章 結論與未來展望 44
參考文獻 46

圖目錄
圖1 物體與手指接觸變形前示意圖[17] 51
圖2 圓盤受三指挾持示意圖[17] 52
圖3 一個立方體受三指挾持示意圖[17] 53
圖4 兩指平移挾持示意圖 54
圖5 兩指平移挾持不同角度時夾緊量與正向力關係圖(Es=Ef,I/(Rd3)=1) 55
圖6 兩指平移挾持不同材料時夾緊量與正向力關係圖(alpha=5度,I/(Rd3)=1) 56
圖7 兩指平移挾持不同慣性矩時夾緊量與正向力關係圖(alpha=5度,Es=Ef) 57
圖8 兩指平移挾持不同角度時夾緊量與正向力關係圖(I→∞,Es=Ef) 58
圖9 兩指平移挾持不同角度時夾緊量與正向力關係圖(Ef→∞) 59
圖10 兩指平移挾持不同角度時夾緊量與正向力關係圖(Es→∞) 60
圖11 兩指旋轉挾持示意圖 61
圖12 兩指旋轉挾持不同角度時夾緊量與正向力關係圖(Es=Ef,I/(Rd3)=1) 62
圖13 兩指旋轉挾持不同材料時夾緊量與正向力關係圖(alpha=5度,I/(Rd3)=1) 63
圖14 兩指旋轉挾持不同慣性矩時夾緊量與正向力關係圖(alpha=5度,Es=Ef) 64
圖15 兩指旋轉挾持不同角度時夾緊量與正向力關係圖(I→∞,Es=Ef) 65
圖16 兩指旋轉挾持不同角度時夾緊量與正向力關係圖(Ef→∞) 66
圖17 兩指旋轉挾持不同角度時夾緊量與正向力關係圖(Es→∞) 67
圖18 三指圍繞抓取示意圖 68
圖19 三指圍繞抓取不同角度時夾緊量與正向力N關係圖 69
圖20 三指圍繞抓取不同角度時夾緊量與正向力N3關係圖 70
圖21 四指圍繞抓取示意圖 71
圖22 四指圍繞抓取不同角度時夾緊量與正向力關係圖 72
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[4] Wang, Y. T., Kumar, V., and Abel, J., Dynamics of Rigid Bodies Undergoing Multiple Frictional Contacts, Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France, pp.2764-2769, May 1992.
[5] Dupond, P. E., The Effect of Coulomb Friction on the Existence and Uniqueness of the Forward Dynamics Problem, Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France, pp.1442-1447, May 1992.
[6] Howard, W. S., and Kumar, V., A Minimum Principle for the Dynamic Analysis of Systems with Frictional Contacts, Proceedings of the IEEE International Conference on Robotics and Automation, Vol.3, pp.437-442, 1993.
[7] Kraus, P. R., Fredriksson, A., and Kumar, V., Modeling of Fricrional Contacts for Dynamic Simulation, IROS 1997 Workshop on Dynamic Simulation: Methods and Applications, pp.1-10, 1997.
[8] Cutkosky, M. R., Robotic Grasping and Fine Manipulation, Boston: Kluwer Academic Publishers, 1985.
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[15] Lin, Q., Burdick, J., and Rimon, E., Computation and Analysis of Compliance in Grasping and Fixturing. Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, Vol.1, pp.93-99, April 1997.
[16] Rimon, E., and Burdick, J. W., Mobility of Bodies in Contact-Part II: How Forces are Generated by Curvature Effects, IEEE Transactions on Robotics and Automation, Vo1.14, No.5, pp.709-717, October 1998.
[17] Sinha, P. R., and Abel, J. M., A Contact Stress Model for Multifingered Grasps of Rough Objects. IEEE Transactions on Robotics and Automation, Vol.8, No.1, pp.7-22, February 1992.
[18] Xydas, N., and Kao, I., Modeling of Contact Mechanics With Experimental Results for Soft Fingers. Proceedings of the IEEE/RSJ Intl. Conference on Intelligent Robots and Systems, Victoria, B.C., Canada, Vol.1, pp.488-493, October 1998.
[19] Xydas, N., and Kao, I., Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results. The International Journal of Robotics Research, Vol.18, No.9, pp.941-950, September 1999.
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